摘要
研究一种具有两操作模式的2-R(SS)_2-R(RR)_2(RR)_2高速并联机构的运动学分析与优化设计。借助位移子群及其运算得到不同操作模式下机构的自由度,利用矢量法建立两操作模式机构速度映射模型;基于奇异值理论构造两操作模式机构局部和全域运动学性能评价指标,揭示尺度参数对不同操作模式下机构运动学性能的影响规律,通过算例优化求解得到一组可使机构具有良好运动学性能的尺度参数。
The kinematics analysis and optimization design of a 2-R(SS)2-R(RR)2(RR)2 parallel mechanism having two operation modes are studied.Firstly,the degrees of freedom of the mechanism under different operation modes are analyzed by means of displacement subgroup and its operation.Then,based on vector method,the unified velocity mapping model of the mechanism under two operation modes is established.Then,the local and global kinematic performance evaluation index of the mechanism are constructed based on the singular value theory and the influence of scale parameters on the kinematic performance under different operation modes is revealed.Finally,a set of scale parameters that can make the mechanism have good kinematic performance are obtained by solving the optimization of the example.
作者
张宇轩
汪满新
黄兴锋
安守和
Zhang Yuxuan;Wang Manxin;Huang Xingfeng;An Shouhe(College of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)
出处
《机械设计与制造工程》
2023年第12期30-36,共7页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金(51605225)。
关键词
两操作模式
并联机构
运动学分析
优化设计
two operation modes
parallel mechanism
kinematic analysis
optimization design
